CN109827027A - A kind of urban duct detection investigation troubleshooting amphibious robot - Google Patents
A kind of urban duct detection investigation troubleshooting amphibious robot Download PDFInfo
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- CN109827027A CN109827027A CN201910261033.4A CN201910261033A CN109827027A CN 109827027 A CN109827027 A CN 109827027A CN 201910261033 A CN201910261033 A CN 201910261033A CN 109827027 A CN109827027 A CN 109827027A
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- fuselage
- troubleshooting
- spray gun
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- 238000013024 troubleshooting Methods 0.000 title claims abstract description 21
- 238000001514 detection method Methods 0.000 title claims abstract description 19
- 238000011835 investigation Methods 0.000 title claims abstract description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 30
- 238000002347 injection Methods 0.000 claims abstract description 23
- 239000007924 injection Substances 0.000 claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 239000007921 spray Substances 0.000 claims abstract description 21
- 230000003028 elevating effect Effects 0.000 claims abstract description 5
- 229920006351 engineering plastic Polymers 0.000 claims description 10
- 238000009413 insulation Methods 0.000 claims description 8
- 239000006260 foam Substances 0.000 claims description 4
- 238000001139 pH measurement Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims 1
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Abstract
The invention discloses a kind of urban ducts to detect investigation troubleshooting amphibious robot, including pedrail mechanism, the top of pedrail mechanism is equipped with fuselage by elevating mechanism support, the outer end of pedrail mechanism is equipped with troubleshooting arm fixation on fuselage, the front end of fuselage is equipped with GPS chip, wireless signal transmitting device and sonar apparatus for detecting diameter, the middle part of fuselage is equipped with water storing bin, the middle and back of fuselage is equipped with water quality detecting device, the tail portion of fuselage is equipped with empennage of wagging the tail, fuselage is equipped with removable drag cable, fuselage lower end center is equipped with high-pressure injection and removes obstacles spray gun, high-pressure injection removes obstacles spray gun using modularization assembling, can arbitrarily replace high-pressure injection remove obstacles spray gun module realize different function, high-pressure injection remove obstacles spray gun upper end be equipped with high-definition camera, the inside of pedrail mechanism is equipped with the bottom that propeller is mounted on fuselage.Stopping state and water quality situation in automatic detection pipeline may be implemented in robot, and can be automatically positioned blocking position, and automatic removing obstacles object.
Description
Technical field
The present invention relates to a kind of pipe detection blowdown apparatus, and in particular to a kind of urban duct detection investigation troubleshooting land and water two
It dwells robot.
Background technique
With the fast development of national economy, national urban construction fltting speed is getting faster, and urban pipe network is as city
Foundation construction facility plays particularly important blowdown, drainage, but for various reasons, current China's municipal drainage pipeline
There are many problems in planning management.
Flowing line Planning preparation lag, planning and designing quality is insufficient, causes the municipal pipeline of urban to be planned and compiles
It makes unsound so that physical location, caliber numerical value, pipeline service region, facilities land of municipal drainage pipeline etc. lack
Detailed data explanation and System Support, so that there are inconveniences in management.
In work progress, urban pipe network caused by various reasons fails to construct according to planning in construction, in city
All be in construction, under most of the cases on one side design, on one side construct, while declaration, another further aspect in the construction process with
Meaning property is strong, causes design and construction not no.
The generaI investigation of flowing line and the update of pipe network data data not in time so that existing pipe network of the administrative department to city
Without clearly survey data, so that the result handled when handling relevant issues disagrees with scheme.
Urban pipe network is usually that just can be carried out after the completion of laying in a special case or after there is bad result
Corresponding construction investigation, this needs a large amount of engineering, and pavement excavation, excavated volume is big, and trouble-shooting point causes great amount of cost.
With the reinforcement that Environmental protection is administered, the anxiety of water resource builds the ecological Easy Living Envi-ronment of blue montains and green waters,
The improvement of sewage is also more and more important, however there are the case where sewage rainwater mixing in reality to exist, this has seriously affected water
Effective improvement of resource.
Summary of the invention
The purpose of the present invention is to defect of the existing technology, provide that a kind of detection is accurate, blowdown efficiently city
City's pipe detection checks troubleshooting amphibious robot.
Its technical solution is: a kind of urban duct detection investigation troubleshooting amphibious robot, including pedrail mechanism, crawler belt
The top of mechanism is equipped with fuselage by elevating mechanism support, and the outer end of pedrail mechanism is equipped with troubleshooting arm fixation on fuselage, machine
The front end of body is equipped with GPS chip, wireless signal transmitting device and sonar apparatus for detecting diameter, and the middle part of fuselage is equipped with water storing bin,
The middle and back of fuselage is equipped with water quality detecting device, and the tail portion of fuselage is equipped with empennage of wagging the tail, and fuselage is equipped with removable dragging electricity
Cable, fuselage lower end center are equipped with high-pressure injection and remove obstacles spray gun, and high-pressure injection removes obstacles spray gun using modularization assembling, can arbitrarily more
Change high-pressure injection remove obstacles spray gun module realize different function, high-pressure injection remove obstacles spray gun upper end be equipped with high-definition camera, crawler belt
The inside of mechanism is equipped with the bottom that propeller is mounted on fuselage.
Preferably, the water quality detecting device includes insulation engineering plastics, is formed in streamlined inside insulation engineering plastics
Chamber, the middle upper ends of the engineering plastics that insulate are equipped with convenient for the slip ring connecting interface of connection fuselage, it is streamlined it is interior it is intracavitary from left to right according to
It is secondary to be equipped with preposition annular pressure sensor, annular density measure head, pH measurement head and postposition pressure sensor.
Preferably, battery is additionally provided in the fuselage.
Preferably, the fuselage is high-intensitive foam fuselage.
Preferably, the inside of the fuselage is additionally provided with gyrosensor.
The present invention compared with prior art, has the advantage that design rationally, reliable in action is practical.Machine
Stopping state and water quality situation in the detection pipeline of automation may be implemented in people, and can be automatically positioned blocking position, and automatic
Removing obstacles object.
Detailed description of the invention
Fig. 1 is the positive structure diagram of an embodiment of the present invention；
Fig. 2 is the left view structural representation of an embodiment of the present invention；
Fig. 3 is the perspective structure schematic diagram of the depression angle of an embodiment of the present invention；
The structural schematic diagram of the water quality detecting device of Fig. 4 an embodiment of the present invention.
Specific embodiment
Referring to Fig.1-4, a kind of urban duct detection investigation troubleshooting amphibious robot, including pedrail mechanism 1, tracked machine
The top of structure 1 is equipped with fuselage 2 by the support of elevating mechanism 13, and elevating mechanism 13 passes through the low area that paddles of water level convenient for robot,
The outer end of pedrail mechanism 1 is equipped with troubleshooting arm 12 and is fixed on fuselage 2, and troubleshooting arm 12 is used for the cleaning of weight, troubleshooting arm
12 are slowed down control by micro machine driving by retarder, and in case of emergency, stirring hand trails assist people progress
It turns around to act, avoids unexpected generation, the front end of fuselage 2 is equipped with GPS chip, wireless signal transmitting device 3 and the detection of sonar diameter
Device 4, the middle part of fuselage 2 are equipped with water storing bin 5, and the reservoir storage size of water storing bin 5 controls fuselage floating submergence depth, fuselage 2
Middle and back be equipped with water quality detecting device 6, the tail portion of fuselage 2 is equipped with empennage 7 of wagging the tail, and it is electric that fuselage 2 is equipped with removable draggings
Cable 8,2 lower end center of fuselage are equipped with high-pressure injection and remove obstacles spray gun 9, and high-pressure injection removes obstacles spray gun 9 using modularization assembling, Ke Yisui
Meaning replacement high-pressure injection remove obstacles spray gun module realize different function, high-pressure injection remove obstacles spray gun 9 upper end be equipped with high-definition camera
10, the inside of pedrail mechanism 1 is equipped with the bottom that propeller 11 is mounted on fuselage 2.
The water quality detecting device 6 includes insulation engineering plastics 16, forms streamlined inner cavity inside the engineering plastics 16 that insulate
14, the middle upper end of insulation engineering plastics 16 is equipped with convenient for the slip ring connecting interface 19 of connection fuselage 2, and streamlined inner cavity 14 is interior from a left side
It turns right and is successively arranged preposition annular pressure sensor 15, annular density measure head 17, pH measurement head 18 and postposition pressure biography
Sensor 20, the data that preposition annular pressure sensor 15 is obtained with the probe of postposition pressure sensor 20 can be with by front and back pressure difference
Judge the direction of water flow, preposition annular pressure sensor 15 can calculate corresponding water flow with 20 data of postposition pressure sensor
Amount, liquid can detect corresponding fluid density, each probe collection after annular density measure head 17, according to voltage change
At insulation engineering plastics in, avoid the interference of signal, it is ensured that data it is accurate, each signal data by processor arrangement
It carries out summarizing transmission, which can arbitrarily replace, and assemble using slip ring connecting interface 19.
Battery is additionally provided in the fuselage 2.
The fuselage 2 is high-intensitive foam fuselage.
The inside of the fuselage 2 is additionally provided with gyrosensor.
Due to the complex situations in urban pipe network, water, impurity, water flow etc., so this robot is with amphibious
Ability adapts to the environment of pipe network, and when detecting that water level is shallower, the movement of robot is walked mainly by pedrail mechanism 1,
When water level is higher, robot can float naturally under the action of high-intensitive foam fuselage, and the movement of robot is mainly by spiral
Paddle 11 and power resources of the empennage 7 as robot motion of wagging the tail.
Robot is divided into the power resources of drag cable 8 or battery two ways as movement, wired use
It is wirelessly storage battery power supply mode, the function of drag cable 8 is mainly powered, signal return is as computer for direct-furnish electric power
End software draws official website figure and caliber three-dimensional figure automatically, and the mode of wireless transmission is to be powered carry out work using battery
Make, information carries antenna by robot and carries out wireless WiFi transmission, and data synchronized upload to net passes through computer end and mobile phone terminal
It can synchronize and check and accept information.
Robot carries out the measurement of pipe diameter by sonar apparatus for detecting diameter 4, is sent out by GPS chip, wireless signal
The location technology of injection device 3 obtains the information data of high-precision position and corresponding position pipeline diameter, to obtain corresponding
Complex data information, line conditions can be understood for engineering staff and provide data information.
The sonar contact of robot is mainly placed in robot front end and carries out caliber detection, and the diameter of pipeline is sentenced
It is disconnected, the case where judging pipeline in conjunction with the identification of preposition high-definition camera 10: situation of depositing in pipe diameter, pipeline, computer end according to
Real time information interpretation simultaneously thinks the next step movement for interfering robot, and records the coordinate data of relevant guilty culprit position.
Computer end by professional software to collected data (caliber, position, three data of depth by can adjusting data adopt
The form for collecting frequency obtains corresponding point, caliber data) and corresponding drawing three-dimensional official website figure, data can be direct with mobile phone terminal
Shared (the feasibility verifying of the data transmission of 5G), data are stored directly in remote server, and related management unit passes through account
Relevant data are obtained, accomplish fluently data basis for later administrative analysis.
The gyrosensor of robot judges attitude data locating for robot in time, adjusts relevant movement in time, keeps away
Exempt from robot to topple, influences robot data collection and recycling.
Robot carries high-pressure injection and removes obstacles spray gun 9, for handling situation of slightly depositing present in pipe network, draws nearby
Water source in pipe network carries out high-pressure injection, the potential problems in pipe network is handled solution in time, improve the passability of robot,
If encountering insoluble failure, robot returns to robot release position according to storage information data path, and high-pressure injection is clear
Hinder spray gun 9 use modularization assembling, can arbitrarily replace high-pressure injection remove obstacles spray gun module realize different function.
The troubleshooting arm 12 of robot, high-pressure injection remove obstacles spray gun 9 can not solve the barrier in pipe network when, troubleshooting hand
Barrier is allocated to two sides by arm 12, then is cleaned up barrier using the remove obstacles compound action of spray gun 9 of high-pressure injection, is robot
Advance clear away the obstacles, also avoid disaster caused by pipeline silting.
The accumulator electric-quantity situation of robot can be checked in time by mobile phone terminal and computer end, and amount of batteries is avoided to exhaust
The recycling of robot is influenced, robot is additionally provided with water flow monitoring device, judges the water (flow) direction in pipe network, time and tide difference
Processing, convenient for saving power consumption.
The judgement of drainpipe path, robot is by detection data to determine whether encountering corresponding T-shaped road junction or ten
Word crossing judges the direction advanced by artificially interfering the mode of either automatic running when encountering crossing.
The water quality detecting device 6 of robot and gyrosensor with ground magnetic function determine position locating for robot
It sets with the presence or absence of sewage data exception, abnormal blowdown, if there are illegal sewage discharges, provide monitoring number for environmental law enforcement
According to data.
The course of work: to the pipeline for needing to detect blowdown, robot is debugged and is put into pipeline, robot is in tracked machine
Advance under the power of structure 1, or floating is advanced by providing power direction by propeller 11 and empennage 7 of wagging the tail on the water, is passed through
The detection dirt eliminating function of all parts works in above-mentioned specific embodiment, recalls after hours.
Claims (5)
1. a kind of urban duct detection investigation troubleshooting amphibious robot, it is characterised in that: including pedrail mechanism (1), crawler belt
The top of mechanism (1) is equipped with fuselage (2) by elevating mechanism (13) support, and the outer end of pedrail mechanism (1) is equipped with troubleshooting arm
(12) it is fixed on fuselage (2), the front end of fuselage (2) is equipped with GPS chip, wireless signal transmitting device (3) and the inspection of sonar diameter
It surveys device (4), the middle part of fuselage (2) is equipped with water storing bin (5), and the middle and back of fuselage (2) is equipped with water quality detecting device (6), fuselage
(2) tail portion is equipped with and wags the tail empennage (7), and fuselage (2) is equipped with removable drag cable (8), and fuselage (2) lower end center is equipped with
High-pressure injection is removed obstacles spray gun (9), and high-pressure injection removes obstacles spray gun (9) using modularization assembling, and it is clear can arbitrarily to replace high-pressure injection
Hinder spray gun module realize different function, high-pressure injection remove obstacles spray gun (9) upper end be equipped with high-definition camera (10), pedrail mechanism
(1) inside is equipped with the bottom that propeller (11) are mounted on fuselage (2).
2. a kind of urban duct detection investigation troubleshooting amphibious robot according to claim 1, it is characterised in that: institute
Stating water quality detecting device (6) includes insulation engineering plastics (16), forms streamlined inner cavity (14) inside insulation engineering plastics (16),
The slip ring connecting interface (19) that the middle upper end of insulation engineering plastics (16) is equipped with convenient for connection fuselage (2), streamlined inner cavity (14)
It is inside successively arranged preposition annular pressure sensor (15), annular density measure head (17), pH measurement head (18) from left to right
With postposition pressure sensor (20).
3. a kind of urban duct detection investigation troubleshooting amphibious robot according to claim 1, it is characterised in that: institute
It states in fuselage (2) and is additionally provided with battery.
4. a kind of urban duct detection investigation troubleshooting amphibious robot according to claim 1, it is characterised in that: institute
Fuselage (2) are stated as high-intensitive foam fuselage.
5. a kind of urban duct detection investigation troubleshooting amphibious robot according to claim 1, it is characterised in that: institute
The inside for stating fuselage (2) is additionally provided with gyrosensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910261033.4A CN109827027B (en) | 2019-04-02 | 2019-04-02 | Amphibious robot for urban pipeline detection and investigation and obstacle removal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910261033.4A CN109827027B (en) | 2019-04-02 | 2019-04-02 | Amphibious robot for urban pipeline detection and investigation and obstacle removal |
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| Publication Number | Publication Date |
|---|---|
| CN109827027A true CN109827027A (en) | 2019-05-31 |
| CN109827027B CN109827027B (en) | 2024-02-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910261033.4A Active CN109827027B (en) | 2019-04-02 | 2019-04-02 | Amphibious robot for urban pipeline detection and investigation and obstacle removal |
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| Country | Link |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110656696A (en) * | 2019-09-24 | 2020-01-07 | 深圳市海腾建设工程有限公司 | Detection and dredging method of drainage pipeline, pipeline robot and medium |
| CN113404975A (en) * | 2021-06-17 | 2021-09-17 | 广东工业大学 | Detection equipment for internal state of water delivery pipeline |
| CN117399377A (en) * | 2023-12-14 | 2024-01-16 | 沈阳乐节科技有限公司 | Self-adaptive pipeline inner diameter cleaning robot |
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| US5072487A (en) * | 1989-08-04 | 1991-12-17 | J. F. Walton & Co., Inc. | Duct cleaning apparatus |
| KR100770976B1 (en) * | 2007-03-30 | 2007-10-30 | 수자원기술 주식회사 | Manless cleanning cars for revival water supply pipe |
| CN104998850A (en) * | 2014-09-10 | 2015-10-28 | 山东鲁能智能技术有限公司 | Electrification water washing robot system of transformer substation and method |
| KR20160015996A (en) * | 2014-08-01 | 2016-02-15 | 대우조선해양 주식회사 | Cleaning appratus for underwater pipe |
| CN208390581U (en) * | 2018-04-27 | 2019-01-18 | 广东齐创科技投资集团有限公司 | Pipeline cleaning blowdown all-in-one machine |
| CN209782014U (en) * | 2019-04-02 | 2019-12-13 | 东营方塘环保科技有限公司 | Urban pipeline detection troubleshooting amphibious robot |
-
2019
- 2019-04-02 CN CN201910261033.4A patent/CN109827027B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5072487A (en) * | 1989-08-04 | 1991-12-17 | J. F. Walton & Co., Inc. | Duct cleaning apparatus |
| KR100770976B1 (en) * | 2007-03-30 | 2007-10-30 | 수자원기술 주식회사 | Manless cleanning cars for revival water supply pipe |
| KR20160015996A (en) * | 2014-08-01 | 2016-02-15 | 대우조선해양 주식회사 | Cleaning appratus for underwater pipe |
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| CN209782014U (en) * | 2019-04-02 | 2019-12-13 | 东营方塘环保科技有限公司 | Urban pipeline detection troubleshooting amphibious robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110656696A (en) * | 2019-09-24 | 2020-01-07 | 深圳市海腾建设工程有限公司 | Detection and dredging method of drainage pipeline, pipeline robot and medium |
| CN113404975A (en) * | 2021-06-17 | 2021-09-17 | 广东工业大学 | Detection equipment for internal state of water delivery pipeline |
| CN117399377A (en) * | 2023-12-14 | 2024-01-16 | 沈阳乐节科技有限公司 | Self-adaptive pipeline inner diameter cleaning robot |
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| Publication number | Publication date |
|---|---|
| CN109827027B (en) | 2024-02-02 |
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